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<h1>main.c</h1><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment">  FreeRTOS V3.2.4 - copyright (C) 2003-2005 Richard Barry.</span>
<a name="l00003"></a>00003 <span class="comment"></span>
<a name="l00004"></a>00004 <span class="comment">  This file is part of the FreeRTOS distribution.</span>
<a name="l00005"></a>00005 <span class="comment"></span>
<a name="l00006"></a>00006 <span class="comment">  FreeRTOS is free software; you can redistribute it and/or modify</span>
<a name="l00007"></a>00007 <span class="comment">  it under the terms of the GNU General Public License as published by</span>
<a name="l00008"></a>00008 <span class="comment">  the Free Software Foundation; either version 2 of the License, or</span>
<a name="l00009"></a>00009 <span class="comment">  (at your option) any later version.</span>
<a name="l00010"></a>00010 <span class="comment"></span>
<a name="l00011"></a>00011 <span class="comment">  FreeRTOS is distributed in the hope that it will be useful,</span>
<a name="l00012"></a>00012 <span class="comment">  but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00013"></a>00013 <span class="comment">  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the</span>
<a name="l00014"></a>00014 <span class="comment">  GNU General Public License for more details.</span>
<a name="l00015"></a>00015 <span class="comment"></span>
<a name="l00016"></a>00016 <span class="comment">  You should have received a copy of the GNU General Public License</span>
<a name="l00017"></a>00017 <span class="comment">  along with FreeRTOS; if not, write to the Free Software</span>
<a name="l00018"></a>00018 <span class="comment">  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA</span>
<a name="l00019"></a>00019 <span class="comment"></span>
<a name="l00020"></a>00020 <span class="comment">  A special exception to the GPL can be applied should you wish to distribute</span>
<a name="l00021"></a>00021 <span class="comment">  a combined work that includes FreeRTOS, without being obliged to provide</span>
<a name="l00022"></a>00022 <span class="comment">  the source code for any proprietary components.  See the licensing section</span>
<a name="l00023"></a>00023 <span class="comment">  of http://www.FreeRTOS.org for full details of how and when the exception</span>
<a name="l00024"></a>00024 <span class="comment">  can be applied.</span>
<a name="l00025"></a>00025 <span class="comment"></span>
<a name="l00026"></a>00026 <span class="comment">  ***************************************************************************</span>
<a name="l00027"></a>00027 <span class="comment">  See http://www.FreeRTOS.org for documentation, latest information, license</span>
<a name="l00028"></a>00028 <span class="comment">  and contact details.  Please ensure to read the configuration and relevant</span>
<a name="l00029"></a>00029 <span class="comment">  port sections of the online documentation.</span>
<a name="l00030"></a>00030 <span class="comment">  ***************************************************************************</span>
<a name="l00031"></a>00031 <span class="comment">*/</span>
<a name="l00032"></a>00032 
<a name="l00033"></a>00033 <span class="comment">/* </span>
<a name="l00034"></a>00034 <span class="comment">  NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.</span>
<a name="l00035"></a>00035 <span class="comment">  The processor MUST be in supervisor mode when vTaskStartScheduler is </span>
<a name="l00036"></a>00036 <span class="comment">  called.  The demo applications included in the FreeRTOS.org download switch</span>
<a name="l00037"></a>00037 <span class="comment">  to supervisor mode prior to main being called.  If you are not using one of</span>
<a name="l00038"></a>00038 <span class="comment">  these demo application projects then ensure Supervisor mode is used.</span>
<a name="l00039"></a>00039 <span class="comment">*/</span>
<a name="l00040"></a>00040 
<a name="l00041"></a>00041 
<a name="l00042"></a>00042 <span class="comment">/*</span>
<a name="l00043"></a>00043 <span class="comment"> * Creates all the application tasks, then starts the scheduler.</span>
<a name="l00044"></a>00044 <span class="comment"> * Main.c includes an idle hook function that simply periodically sends data</span>
<a name="l00045"></a>00045 <span class="comment"> * to the USB task for transmission.</span>
<a name="l00046"></a>00046 <span class="comment"> */</span>
<a name="l00047"></a>00047 
<a name="l00048"></a>00048 <span class="comment">/*</span>
<a name="l00049"></a>00049 <span class="comment">  Changes from V3.2.2</span>
<a name="l00050"></a>00050 <span class="comment"></span>
<a name="l00051"></a>00051 <span class="comment">  + Modified the stack sizes used by some tasks to permit use of the </span>
<a name="l00052"></a>00052 <span class="comment">    command line GCC tools.</span>
<a name="l00053"></a>00053 <span class="comment">*/</span>
<a name="l00054"></a>00054 
<a name="l00055"></a>00055 <span class="comment">/* Library includes. */</span>
<a name="l00056"></a>00056 <span class="preprocessor">#include &lt;string.h&gt;</span>
<a name="l00057"></a>00057 <span class="preprocessor">#include &lt;stdio.h&gt;</span>
<a name="l00058"></a>00058 
<a name="l00059"></a>00059 <span class="comment">/* Scheduler includes. */</span>
<a name="l00060"></a>00060 <span class="preprocessor">#include "FreeRTOS.h"</span>
<a name="l00061"></a>00061 <span class="preprocessor">#include "task.h"</span>
<a name="l00062"></a>00062 <span class="preprocessor">#include "portable.h"</span>
<a name="l00063"></a>00063 
<a name="l00064"></a>00064 <span class="comment">/* lwIP includes. */</span>
<a name="l00065"></a>00065 <span class="preprocessor">#include "lwip/api.h"</span> 
<a name="l00066"></a>00066 
<a name="l00067"></a>00067 <span class="comment">/* MAKE CODE */</span>
<a name="l00068"></a>00068 <span class="preprocessor">#include "config.h"</span>
<a name="l00069"></a>00069 
<a name="l00070"></a>00070 <span class="comment">/* Hardware specific headers. */</span>
<a name="l00071"></a>00071 <span class="preprocessor">#include "AT91SAM7X256.h"</span>
<a name="l00072"></a>00072 
<a name="l00073"></a>00073 
<a name="l00074"></a>00074 <span class="comment">// NORMAL PROGRAMMING RESUMES</span>
<a name="l00075"></a>00075 
<a name="l00076"></a>00076 <span class="comment">/*-----------------------------------------------------------*/</span>
<a name="l00077"></a>00077 
<a name="l00078"></a>00078 <span class="comment">/*</span>
<a name="l00079"></a>00079 <span class="comment"> * Configure the processor for use with the Atmel demo board.  This is very</span>
<a name="l00080"></a>00080 <span class="comment"> * minimal as most of the setup is performed in the startup code.</span>
<a name="l00081"></a>00081 <span class="comment"> */</span>
<a name="l00082"></a>00082 <span class="keyword">static</span> <span class="keywordtype">void</span> prvSetupHardware( <span class="keywordtype">void</span> );
<a name="l00083"></a>00083 
<a name="l00084"></a>00084 <span class="comment">/*</span>
<a name="l00085"></a>00085 <span class="comment"> * The idle hook.</span>
<a name="l00086"></a>00086 <span class="comment"> */</span>
<a name="l00087"></a>00087 <span class="keywordtype">void</span> vApplicationIdleHook( <span class="keywordtype">void</span> );
<a name="l00088"></a>00088 <span class="comment">/*-----------------------------------------------------------*/</span>
<a name="l00089"></a>00089 
<a name="l00090"></a>00090 <span class="comment">/*</span>
<a name="l00091"></a>00091 <span class="comment"> * Setup hardware then start all the demo application tasks.</span>
<a name="l00092"></a>00092 <span class="comment"> */</span>
<a name="l00093"></a>00093 <span class="keywordtype">void</span> MakeStarterTask( <span class="keywordtype">void</span>* parameters );
<a name="l00094"></a>00094 
<a name="l00095"></a>00095 <span class="keywordtype">void</span> MakeStarterTask( <span class="keywordtype">void</span>* parameters )
<a name="l00096"></a>00096 {
<a name="l00097"></a>00097  (void)parameters;
<a name="l00098"></a>00098   Run( );
<a name="l00099"></a>00099   <a class="code" href="group___tasks.html#g5bc41573c59208d32d999e2f394ad3ce" title="Delete an existing task.">TaskDelete</a>( NULL );
<a name="l00100"></a>00100 }
<a name="l00101"></a>00101 
<a name="l00102"></a>00102 <span class="keywordtype">int</span> main( <span class="keywordtype">void</span> )
<a name="l00103"></a>00103 {
<a name="l00104"></a>00104   <span class="comment">/* Setup the ports. */</span>
<a name="l00105"></a>00105   prvSetupHardware();
<a name="l00106"></a>00106 
<a name="l00107"></a>00107   <span class="comment">/* Create the make task. */</span>
<a name="l00108"></a>00108   <a class="code" href="group___tasks.html#g784f87fb45eebb76d07478036ed228d3" title="Create a new task.">TaskCreate</a>( MakeStarterTask, <span class="stringliteral">"Make"</span>, 1200, NULL, 4 );
<a name="l00109"></a>00109 
<a name="l00110"></a>00110   <span class="comment">/*NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.</span>
<a name="l00111"></a>00111 <span class="comment">  The processor MUST be in supervisor mode when vTaskStartScheduler is </span>
<a name="l00112"></a>00112 <span class="comment">  called.  The demo applications included in the FreeRTOS.org download switch</span>
<a name="l00113"></a>00113 <span class="comment">  to supervisor mode prior to main being called.  If you are not using one of</span>
<a name="l00114"></a>00114 <span class="comment">  these demo application projects then ensure Supervisor mode is used here. */</span>
<a name="l00115"></a>00115   vTaskStartScheduler();
<a name="l00116"></a>00116 
<a name="l00117"></a>00117   <span class="comment">/* Should never get here! */</span>
<a name="l00118"></a>00118   <span class="keywordflow">return</span> 0;
<a name="l00119"></a>00119 }
<a name="l00120"></a>00120 <span class="comment">/*-----------------------------------------------------------*/</span>
<a name="l00121"></a>00121 
<a name="l00122"></a>00122 
<a name="l00123"></a>00123 <span class="keyword">static</span> <span class="keywordtype">void</span> prvSetupHardware( <span class="keywordtype">void</span> )
<a name="l00124"></a>00124 {
<a name="l00125"></a>00125   <span class="comment">/* When using the JTAG debugger the hardware is not always initialised to</span>
<a name="l00126"></a>00126 <span class="comment">  the correct default state.  This line just ensures that this does not</span>
<a name="l00127"></a>00127 <span class="comment">  cause all interrupts to be masked at the start. */</span>
<a name="l00128"></a>00128   AT91C_BASE_AIC-&gt;AIC_EOICR = 0;
<a name="l00129"></a>00129   
<a name="l00130"></a>00130   <span class="comment">/* Most setup is performed by the low level init function called from the</span>
<a name="l00131"></a>00131 <span class="comment">  startup asm file.*/</span>
<a name="l00132"></a>00132 
<a name="l00133"></a>00133   <span class="comment">// EEPROM DISABLE</span>
<a name="l00134"></a>00134 <span class="preprocessor">  #if ( CONTROLLER_VERSION == 90 )</span>
<a name="l00135"></a>00135 <span class="preprocessor"></span>    AT91C_BASE_PIOB-&gt;PIO_PER = 1 &lt;&lt; 17; <span class="comment">// Set PB17 - the EEPROM ~enable - in PIO mode</span>
<a name="l00136"></a>00136     AT91C_BASE_PIOB-&gt;PIO_OER = 1 &lt;&lt; 17; <span class="comment">// Configure in Output</span>
<a name="l00137"></a>00137     AT91C_BASE_PIOB-&gt;PIO_SODR = 1 &lt;&lt; 17; <span class="comment">// Set Output</span>
<a name="l00138"></a>00138 <span class="preprocessor">  #endif</span>
<a name="l00139"></a>00139 <span class="preprocessor"></span><span class="preprocessor">  #if ( CONTROLLER_VERSION == 95 || CONTROLLER_VERSION == 100 )</span>
<a name="l00140"></a>00140 <span class="preprocessor"></span>    AT91C_BASE_PIOA-&gt;PIO_PER = 1 &lt;&lt; 9; <span class="comment">// Set PA9 - the EEPROM ~enable - in PIO mode</span>
<a name="l00141"></a>00141     AT91C_BASE_PIOA-&gt;PIO_OER = 1 &lt;&lt; 9; <span class="comment">// Configure in Output</span>
<a name="l00142"></a>00142     AT91C_BASE_PIOA-&gt;PIO_SODR = 1 &lt;&lt; 9; <span class="comment">// Set Output</span>
<a name="l00143"></a>00143 <span class="preprocessor">  #endif</span>
<a name="l00144"></a>00144 <span class="preprocessor"></span>
<a name="l00145"></a>00145   <span class="comment">// CAN DISABLE</span>
<a name="l00146"></a>00146 <span class="preprocessor">  #if ( CONTROLLER_VERSION == 90 )</span>
<a name="l00147"></a>00147 <span class="preprocessor"></span>    AT91C_BASE_PIOB-&gt;PIO_PER = 1 &lt;&lt; 16; <span class="comment">// Set PB16 - the CAN ~enable - in PIO mode</span>
<a name="l00148"></a>00148     AT91C_BASE_PIOB-&gt;PIO_OER = 1 &lt;&lt; 16; <span class="comment">// Configure in Output</span>
<a name="l00149"></a>00149     AT91C_BASE_PIOB-&gt;PIO_SODR = 1 &lt;&lt; 16; <span class="comment">// Set Output</span>
<a name="l00150"></a>00150 <span class="preprocessor">  #endif</span>
<a name="l00151"></a>00151 <span class="preprocessor"></span><span class="preprocessor">  #if ( CONTROLLER_VERSION == 95  || CONTROLLER_VERSION == 100 )</span>
<a name="l00152"></a>00152 <span class="preprocessor"></span>    AT91C_BASE_PIOA-&gt;PIO_PER = 1 &lt;&lt; 7; <span class="comment">// Set PA7 - the CAN ~enable - in PIO mode</span>
<a name="l00153"></a>00153     AT91C_BASE_PIOA-&gt;PIO_OER = 1 &lt;&lt; 7; <span class="comment">// Configure in Output</span>
<a name="l00154"></a>00154     AT91C_BASE_PIOA-&gt;PIO_SODR = 1 &lt;&lt; 7; <span class="comment">// Set Output</span>
<a name="l00155"></a>00155 <span class="preprocessor">  #endif</span>
<a name="l00156"></a>00156 <span class="preprocessor"></span>
<a name="l00157"></a>00157   <span class="comment">/* Enable the peripheral clock. */</span>
<a name="l00158"></a>00158   AT91C_BASE_PMC-&gt;PMC_PCER = 1 &lt;&lt; AT91C_ID_PIOA;
<a name="l00159"></a>00159   AT91C_BASE_PMC-&gt;PMC_PCER = 1 &lt;&lt; AT91C_ID_PIOB;
<a name="l00160"></a>00160   
<a name="l00161"></a>00161   <span class="comment">// Enable the EMAC</span>
<a name="l00162"></a>00162   AT91C_BASE_PMC-&gt;PMC_PCER = 1 &lt;&lt; AT91C_ID_EMAC;
<a name="l00163"></a>00163 
<a name="l00164"></a>00164 <span class="preprocessor">  #if ( APPBOARD_VERSION == 100 )</span>
<a name="l00165"></a>00165 <span class="preprocessor"></span>    <span class="comment">// Kill the outputs</span>
<a name="l00166"></a>00166     <span class="comment">// Outputs 0 - 7 are PA24, PA5, PA6, PA2, PB25, PA25, PA26, PB23</span>
<a name="l00167"></a>00167     <span class="keywordtype">int</span> outputAMask = ( 1 &lt;&lt; 24 ) | ( 1 &lt;&lt; 5 ) | ( 1 &lt;&lt; 6 ) | ( 1 &lt;&lt; 2  ) | ( 1 &lt;&lt; 25  ) | ( 1 &lt;&lt; 26 );
<a name="l00168"></a>00168     <span class="keywordtype">int</span> outputBMask = ( 1 &lt;&lt; 25 ) | ( 1 &lt;&lt; 23 );
<a name="l00169"></a>00169     <span class="comment">// Set in peripheral mode</span>
<a name="l00170"></a>00170     AT91C_BASE_PIOA-&gt;PIO_PER = outputAMask; 
<a name="l00171"></a>00171     AT91C_BASE_PIOB-&gt;PIO_PER = outputBMask; 
<a name="l00172"></a>00172     <span class="comment">// Set to Outputs</span>
<a name="l00173"></a>00173     AT91C_BASE_PIOA-&gt;PIO_OER = outputAMask;
<a name="l00174"></a>00174     AT91C_BASE_PIOB-&gt;PIO_OER = outputBMask;
<a name="l00175"></a>00175     <span class="comment">// Turn Off</span>
<a name="l00176"></a>00176     AT91C_BASE_PIOA-&gt;PIO_CODR = outputAMask;
<a name="l00177"></a>00177     AT91C_BASE_PIOB-&gt;PIO_CODR = outputBMask;
<a name="l00178"></a>00178 <span class="preprocessor">  #endif</span>
<a name="l00179"></a>00179 <span class="preprocessor"></span>    
<a name="l00180"></a>00180   <span class="comment">/* Turn the USB line into an input, kill the pull up */</span>
<a name="l00181"></a>00181 <span class="preprocessor">  #if ( CONTROLLER_VERSION == 90 )</span>
<a name="l00182"></a>00182 <span class="preprocessor"></span>    AT91C_BASE_PIOB-&gt;PIO_PER = 1 &lt;&lt; 10; 
<a name="l00183"></a>00183     AT91C_BASE_PIOB-&gt;PIO_ODR = 1 &lt;&lt; 10;
<a name="l00184"></a>00184     AT91C_BASE_PIOB-&gt;PIO_PPUDR = 1 &lt;&lt; 10;
<a name="l00185"></a>00185 <span class="preprocessor">  #endif</span>
<a name="l00186"></a>00186 <span class="preprocessor"></span><span class="preprocessor">  #if ( CONTROLLER_VERSION == 95 || CONTROLLER_VERSION == 100 )</span>
<a name="l00187"></a>00187 <span class="preprocessor"></span>    AT91C_BASE_PIOA-&gt;PIO_PER = 1 &lt;&lt; 10; 
<a name="l00188"></a>00188     AT91C_BASE_PIOA-&gt;PIO_ODR = 1 &lt;&lt; 10;
<a name="l00189"></a>00189     AT91C_BASE_PIOA-&gt;PIO_PPUDR = 1 &lt;&lt; 10;
<a name="l00190"></a>00190 <span class="preprocessor">  #endif</span>
<a name="l00191"></a>00191 <span class="preprocessor"></span>
<a name="l00192"></a>00192   <span class="comment">/* Setup the PIO for the USB pull up resistor. */</span>
<a name="l00193"></a>00193   <span class="comment">/* Start low: no USB */</span>
<a name="l00194"></a>00194 <span class="preprocessor">  #if ( CONTROLLER_VERSION == 90 )</span>
<a name="l00195"></a>00195 <span class="preprocessor"></span>    AT91C_BASE_PIOB-&gt;PIO_PER = AT91C_PIO_PB11;
<a name="l00196"></a>00196     AT91C_BASE_PIOB-&gt;PIO_OER = AT91C_PIO_PB11;
<a name="l00197"></a>00197     AT91C_BASE_PIOB-&gt;PIO_SODR = AT91C_PIO_PB11;
<a name="l00198"></a>00198 <span class="preprocessor">  #endif</span>
<a name="l00199"></a>00199 <span class="preprocessor"></span><span class="preprocessor">  #if ( CONTROLLER_VERSION == 95 || CONTROLLER_VERSION == 100 )</span>
<a name="l00200"></a>00200 <span class="preprocessor"></span>    AT91C_BASE_PIOA-&gt;PIO_PER = AT91C_PIO_PA11;
<a name="l00201"></a>00201     AT91C_BASE_PIOA-&gt;PIO_OER = AT91C_PIO_PA11;
<a name="l00202"></a>00202     AT91C_BASE_PIOA-&gt;PIO_CODR = AT91C_PIO_PA11; <span class="comment">// had this round the wrong way...</span>
<a name="l00203"></a>00203 <span class="preprocessor">  #endif</span>
<a name="l00204"></a>00204 <span class="preprocessor"></span>}
<a name="l00205"></a>00205 <span class="comment">/*-----------------------------------------------------------*/</span>
<a name="l00206"></a>00206 
<a name="l00207"></a>00207 <span class="comment">/*-----------------------------------------------------------*/</span>
<a name="l00208"></a>00208 
<a name="l00209"></a>00209 <span class="keywordtype">int</span> toggle;
<a name="l00210"></a>00210 <span class="keywordtype">void</span> vApplicationIdleHook( <span class="keywordtype">void</span> )
<a name="l00211"></a>00211 {
<a name="l00212"></a>00212   <span class="comment">// prevent the function from being optimized away?</span>
<a name="l00213"></a>00213   toggle = !toggle;
<a name="l00214"></a>00214 }
<a name="l00215"></a>00215 
<a name="l00216"></a>00216 <span class="comment">/*----------------------------------------------------------------------*/</span>
<a name="l00217"></a>00217 
<a name="l00218"></a>00218 
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  <p class="footer">The Make Controller Kit is an open source project maintained by <a href="http://www.makingthings.com">MakingThings</a>.<br />
    MakingThings code is released under the <a href="http://www.apache.org/licenses/LICENSE-2.0.html" target="_blank">Apache 2.0 license</a>.<br />
    Bug tracker, development wiki and status can be found at <a href="http://dev.makingthings.com">http://dev.makingthings.com</a>.<br />
		This document was last updated on 5 Dec 2007.
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